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82 lines
2.3 KiB
82 lines
2.3 KiB
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#ifndef __AP_HAL_SITL_SCHEDULER_H__ |
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#define __AP_HAL_SITL_SCHEDULER_H__ |
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#include <AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL |
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#include "AP_HAL_AVR_SITL_Namespace.h" |
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#include <sys/time.h> |
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#define SITL_SCHEDULER_MAX_TIMER_PROCS 4 |
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/* Scheduler implementation: */ |
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class AVR_SITL::SITLScheduler : public AP_HAL::Scheduler { |
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public: |
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SITLScheduler(SITL_State *sitlState); |
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/* AP_HAL::Scheduler methods */ |
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void init(void *unused); |
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void delay(uint16_t ms); |
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uint32_t millis(); |
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uint32_t micros(); |
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uint64_t millis64(); |
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uint64_t micros64(); |
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void delay_microseconds(uint16_t us); |
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void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms); |
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void register_timer_process(AP_HAL::MemberProc); |
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void register_io_process(AP_HAL::MemberProc); |
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void suspend_timer_procs(); |
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void resume_timer_procs(); |
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bool in_timerprocess(); |
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void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us); |
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bool system_initializing(); |
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void system_initialized(); |
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void reboot(bool hold_in_bootloader); |
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void panic(const prog_char_t *errormsg); |
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bool interrupts_are_blocked(void) { return _nested_atomic_ctr != 0; } |
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void sitl_begin_atomic() { _nested_atomic_ctr++; } |
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void sitl_end_atomic(); |
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// callable from interrupt handler |
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static uint64_t _micros64(); |
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static void timer_event() { _run_timer_procs(true); _run_io_procs(true); } |
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private: |
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SITL_State *_sitlState; |
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uint8_t _nested_atomic_ctr; |
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AP_HAL::Proc _delay_cb; |
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uint16_t _min_delay_cb_ms; |
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static struct timeval _sketch_start_time; |
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static AP_HAL::Proc _failsafe; |
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static void _run_timer_procs(bool called_from_isr); |
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static void _run_io_procs(bool called_from_isr); |
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static volatile bool _timer_suspended; |
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static volatile bool _timer_event_missed; |
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static AP_HAL::MemberProc _timer_proc[SITL_SCHEDULER_MAX_TIMER_PROCS]; |
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static AP_HAL::MemberProc _io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS]; |
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static uint8_t _num_timer_procs; |
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static uint8_t _num_io_procs; |
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static bool _in_timer_proc; |
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static bool _in_io_proc; |
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#ifdef __CYGWIN__ |
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static double _cyg_freq; |
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static long _cyg_start; |
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static double _cyg_sec(); |
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#endif |
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bool _initialized; |
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}; |
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#endif |
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#endif // __AP_HAL_SITL_SCHEDULER_H__ |
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